CN109099855A - Cleaning vehicle cleanliness detection system and method - Google Patents
Cleaning vehicle cleanliness detection system and method Download PDFInfo
- Publication number
- CN109099855A CN109099855A CN201810615660.9A CN201810615660A CN109099855A CN 109099855 A CN109099855 A CN 109099855A CN 201810615660 A CN201810615660 A CN 201810615660A CN 109099855 A CN109099855 A CN 109099855A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- images
- cleaning
- image
- image capture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 85
- 238000001514 detection method Methods 0.000 title claims abstract description 48
- 230000003749 cleanliness Effects 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000004891 communication Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 12
- 238000012423 maintenance Methods 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 abstract description 10
- 238000003860 storage Methods 0.000 description 14
- 238000013139 quantization Methods 0.000 description 9
- 239000012634 fragment Substances 0.000 description 8
- 239000002689 soil Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000015654 memory Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003608 fece Anatomy 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- CZMRCDWAGMRECN-UGDNZRGBSA-N Sucrose Chemical compound O[C@H]1[C@H](O)[C@@H](CO)O[C@@]1(CO)O[C@@H]1[C@H](O)[C@@H](O)[C@H](O)[C@@H](CO)O1 CZMRCDWAGMRECN-UGDNZRGBSA-N 0.000 description 1
- 229930006000 Sucrose Natural products 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 229910002056 binary alloy Inorganic materials 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004587 chromatography analysis Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000005720 sucrose Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/306—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces for measuring evenness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/94—Investigating contamination, e.g. dust
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/0006—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means to keep optical surfaces clean, e.g. by preventing or removing dirt, stains, contamination, condensation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30136—Metal
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30156—Vehicle coating
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
Abstract
Describe example vehicle cleannes detection system and method.In one embodiment, vehicle location near image capture station and is received the multiple images from image capture station by this method.Multiple images include the different views of the outer surface of vehicle.Cleaning vehicle cleanliness detection system analyzes multiple images to determine the cleannes of the outer surface of vehicle.The cleannes of outer surface based on analysis vehicle, this method determine whether outside vehicle needs to clean.
Description
Technical field
The present invention relates to Vehicular systems, and the system and method for the cleannes more particularly, to detection vehicle.
Background technique
Automobile and other vehicles are that business, government and private organization (entities) provide a big chunk traffic fortune
It is defeated.When passenger or object are transported to another place from one place, the vehicle of such as autonomous vehicle road, parking lot with
And other area rows are sailed.The exemplary application of autonomous vehicle is to carry one or more passengers in transport request in response
Taxi or shuttle bus service are run.When as taxi or shuttle bus service operation, autonomous vehicle, which drives towards, carries place and makes
The passenger of request service can enter vehicle.Then vehicle drives towards destination and passenger is allowed to leave vehicle.It is another carrying
Before passenger, preferably outside vehicle is clean for next passenger.
Summary of the invention
According to the present invention, a kind of method is provided, comprising:
By vehicle location near image capture station；
The multiple images from described image capture station are received, wherein described multiple images include the outer surface of the vehicle
Different views；
Described multiple images are analyzed by cleaning vehicle cleanliness detection system with the cleannes of the outer surface of the determination vehicle；
And
Determine whether the outside vehicle needs to clean based on the cleannes for the outer surface for analyzing the vehicle.
According to one embodiment of present invention, this method further includes by the multiple images received and the vehicle
External corresponding multiple cleaning images are compared with Recognition Different.
According to one embodiment of present invention, this method further includes identifying in multiple images received and described right
The difference between multiple cleaning images answered.
According to one embodiment of present invention, this method further includes the multiple images and the correspondence received described in quantization
Multiple cleaning images to reduce noise.
According to one embodiment of present invention, this method further includes that identification is associated at least with the identified difference
One profile.
According to one embodiment of present invention, this method further includes classifying to the region by the contour limit,
Described in classification include determining the shape of the profile.
According to one embodiment of present invention, this method further includes classifying to the region by the contour limit,
Described in classification include determining the smoothness at the edge of the profile.
According to one embodiment of present invention, this method further includes needing to clean in response to the determination outside vehicle and making
The vehicle stops service.
According to one embodiment of present invention, wherein receiving institute from multiple video cameras associated with described image capture station
State multiple images.
According to one embodiment of present invention, wherein the vehicle cleaning degree detection system is located in the vehicle.
According to one embodiment of present invention, wherein determining whether the outside vehicle needs to clean includes determining cleaning institute
State the type of cleaning service required for outside vehicle.
According to one embodiment of present invention, wherein the vehicle is autonomous vehicle.
According to the present invention, a kind of method is provided, comprising:
By vehicle location near image capture station, wherein described image capture station is including that can capture the outer of the vehicle
Multiple video cameras of the multiple images on surface, and wherein described multiple images include the different views of the outer surface of the vehicle
Figure；
Receive the described multiple images of the outer surface of the vehicle from described image capture station；
Described multiple images are analyzed by the cleaning vehicle cleanliness detection system in the vehicle with the determination vehicle
The cleannes of outer surface；And
Determine whether the outside vehicle needs to clean based on the cleannes for the outer surface for analyzing the vehicle.
According to one embodiment of present invention, wherein analysis described multiple images are with the clear of the outer surface of the determination vehicle
Cleanliness includes:
The multiple image received multiple cleaning images corresponding with the outer surface of the vehicle are compared；
And
Identify the difference between the multiple image received and corresponding multiple cleaning images.
According to one embodiment of present invention, this method further include:
It identifies described identified between the multiple image received and corresponding multiple cleaning images
At least one associated profile of difference；And
Classify to the region by the contour limit, wherein the classification includes determining the shape and really of the profile
At least one of the smoothness at edge of the fixed profile.
According to the present invention, a kind of equipment is provided, comprising:
Communication manager in vehicle, the communication manager are configured to receive the multiple images from image capture station,
Wherein described multiple images are captured by multiple video cameras associated with described image capture station, and wherein described multiple images
The different views of outer surface including the vehicle；
Image processing module, described image processing module are configured to analyze the multiple image received described in determination
The cleannes of the outer surface of vehicle；And
Vehicle maintenance manager, the vehicle maintenance manager are configured to the cleaning of the outer surface of the vehicle
Degree is to determine whether the outside vehicle needs to clean.
According to one embodiment of present invention, which further includes image subtraction module, and described image reduces module configuration
Are as follows:
The multiple image received multiple cleaning images corresponding with the outer surface of the vehicle are compared；
And
Identify the difference between the multiple image received and corresponding multiple cleaning images.
According to one embodiment of present invention, which further includes outline identification module, the outline identification module configuration
To identify that the identified difference between the multiple image received and corresponding multiple cleaning images is associated
At least one profile.
According to one embodiment of present invention, which further includes image quantization module, the configuration of described image quantization modules
It is the multiple images that receive described in quantization to reduce noise.
According to one embodiment of present invention, wherein the equipment is connected to the automated driving system in the vehicle.
Detailed description of the invention
Non-limiting and non-exhaustive embodiments of the invention are described with reference to the following drawings, wherein unless otherwise indicated,
Otherwise identical component is referred to through the identical appended drawing reference of each attached drawing.
Fig. 1 is to show the block diagram of the embodiment of the vehicle control system including cleaning vehicle cleanliness detection system；
Fig. 2 is to show the block diagram of the embodiment of cleaning vehicle cleanliness detection system；
Fig. 3 A and 3B show multiple views of the embodiment at the image capture station with multiple video cameras；
Fig. 4 A and 4B show the embodiment of the method for the cleannes for detecting outside vehicle.
Specific embodiment
With reference to attached drawing, the component of this paper is illustrated in the following description, and by illustrating specific embodiment at this
It is shown in text, the invention can be practiced in a specific embodiment.It can be understood that in the feelings for not departing from the scope of the present invention
Other embodiment can be used under condition and can change structure.In specification, be related to " one embodiment ", " embodiment ",
The embodiment of the content representation description of " exemplary embodiment " etc. may include special feature, structure or characteristic, but each
Embodiment may not include special feature, structure or the characteristic.In addition, this kind of phrase is not necessarily referring to identical embodiment.And
And when describing special feature, structure or characteristic in conjunction with the embodiments, it can advocate: known in those skilled in the art
Whether specific description all influences to combine this feature, structure or the characteristic of other embodiments in common sense.
The embodiment of system disclosed herein, device and method may include or use special purpose computer or general meter
Calculation machine, as discussed in this article, the special purpose computer or general purpose computer include computer hardware, such as one or more processing
Device and system storage.Embodiment within the scope of the present invention may also comprise executable for carrying or storing computer
Instruction and/or data structure traditional sucrose and other computer-readable mediums.This computer-readable medium, which can be, appoints
Meaning can obtain medium, which can be accessed by general-purpose computing system or dedicated computer system.Storage computer can be held
The computer-readable medium of row instruction is computer storage medium (device).Carry the computer-readable of computer executable instructions
Medium is transmission medium.Therefore, by example, but not limited to this, and embodiments of the present invention include at least two significantly different
The computer-readable medium of type: computer storage medium (device) and transmission medium.
Computer storage medium (device) includes that random access memory (RAM), read-only memory (ROM), electric erasable can be compiled
Journey read-only memory (EEPROM), solid state drive (SSD) (for example, being based on RAM), is dodged CD-ROM driver (CD-ROM)
Deposit, phase transition storage (PCM), other type memories, other optical disc storages, disk storage or other disk storage devices,
Perhaps any other medium any other medium can be used for storing in the form of computer executable instructions or data structure
The program code devices needed and its can pass through general purpose computer or special purpose computer access.
The embodiment of system disclosed herein, device and method can pass through computer network communication." network " limits
For one or more data connections, the data connection can transmit computer system and/or module and/or other electronic devices it
Between electronic data.When information is (hard-wired, wireless or hard-wired or wireless by network or other communication connections
In conjunction with) transfer or when providing to computer, which is suitably considered as transmission medium by computer.Transmission medium may include network
And/or data connection, the network and/or data connection may include that can be used for computer executable instructions or data structure
Form carries the program code devices needed and it can be accessed by general purpose computer or special purpose computer.Above-mentioned combination
It is also regarded as being included in the range of computer-readable medium.
For example, computer executable instructions include instruction and data, when executing in the processor, which is led
General purpose computer, special purpose computer or special processor is caused to execute a certain function or certain group function.For example, computer can be held
Row instruction can be binary system, intermediate format instructions (such as assembler language) or even source code.Although this theme be with
What structure feature and/or the language-specific of method behavior described, however it is appreciated that: this master that dependent claims limit
Topic is not required the feature or behavior described herein for being limited to describe.Certainly, the feature of description and behavior description are real
Apply the exemplary form of claim.
It will be appreciated by those skilled in the art that the present invention can be in the net of the computer system configurations with many types
Network calculates to be practiced in environment, which includes car-mounted computer on the instrument board, personal computer, desk-top
Computer, message handling device, hand-held device, multicomputer system, is based on microprocessor or programmable family at notebook computer
With electronic product, NetPC Network PC (network PC), microcomputer, mainframe computer, mobile phone, individual digital
Assistant (PDA), tablet computer, pager, router, exchanger, various storage equipment etc..The present invention can also be in distributed system
It is practiced in environment, wherein hardwired (by hardwired data links, wireless data link or is passed through by network linking
The combination of data link and wireless data link) both local computer system and remote computer system be carried out task.
In distributed system environment, program module can be located locally in storage device and remote storage.
Moreover, in appropriate circumstances, functions described herein can be executed with one or more of component: hardware, soft
Part, firmware, digital unit or analog component.For example, one or more specific integrated circuits (ASIC) are programmable to implement this
One or more system and programs of text description.The certain terms used through specification and claims are related to specific system
Component.As it will appreciated by a person of ordinary skill, component can involve different titles.Being not intended to differentiation herein is nominally having
The component distinguished and be functionally not different.
It should be noted that the sensor embodiment being discussed herein include computer hardware, software, firmware or more than
Any combination is to execute at least part of their function.For example, sensor may include being configured to handle in one or more
The computer code executed in device, and may include the hardware logic electric circuit/hardwired electronic circuits controlled by computer code.This
A little exemplary means are provided in this article with the purpose illustrated, and are not intended to be limited to this.The embodiment of the present invention is implementable
In other types of device well known by persons skilled in the art.
At least some embodiments of the invention are related to computer program product, which includes that storage is in office
This logic anticipated on computer usable medium (for example, in the form of software).As described herein, this software is when at one
Or being performed in multiple data processing equipments operates the device.
Fig. 1 is to show the embodiment of the vehicle control system 100 in the vehicle including cleaning vehicle cleanliness detection system 104
Block diagram.Automatic Pilot/auxiliary system 102 can be used to automate or control the operation of vehicle or provide to human driver
Auxiliary.For example, automatic Pilot/auxiliary system 102 can control braking, steering, belt tensioning, acceleration, light, the police of vehicle
One or more of report, driver notification, radio, vehicle lock or any other auxiliary system.In another example, although
Automatic Pilot/auxiliary system 102 may not provide any control (for example, turn to, accelerate or brake) of driving, but can
To provide notice and alarm to assist human driver's safe driving.Vehicle control system 100 includes cleaning vehicle cleanliness detection system
System 104, the cleaning vehicle cleanliness detection system 104 in vehicle control system various parts and external component and system it is mutual
Effect is to detect the spot on outside vehicle, dirt, rubbish, fragment and other articles.Cleaning vehicle cleanliness detection system 104 can
To detect any kind of dirt or spot of the outside of vehicle, such as birds droppings, soil, tar, the beverage of spillage, trees fall
Object (tree dropping) etc..Although cleaning vehicle cleanliness detection system 104 is illustrated as individual component in Fig. 1, replacing
For in embodiment, cleaning vehicle cleanliness detection system 104 can be incorporated to automatic Pilot/auxiliary system 102 or any other vehicle portion
Part.
Vehicle control system 100 further includes for detecting the presence of object (or barrier) nearby or determining female vehicle
The one or more sensors system of the position of (parent vehicle) (e.g., including the vehicle of vehicle control system 100)/
Device.For example, vehicle control system 100 may include one or more radar systems 106, one or more light detections and ranging
(LIDAR) system 108, one or more camera chains 110, global positioning system (GPS) 112 and/or ultrasonic system
114.One or more camera chains 110 may include the postposition video camera for being installed to vehicle (for example, rear portion of vehicle), preceding
Set video camera and side video camera.Camera chain 110 can also include the figure of the passenger and other objects in capture vehicle
One or more interior video cameras of picture.Vehicle control system 100 may include related to safety for navigating for storing
Or the data storage 116 of useful data (such as map datum, driving history or other data).Vehicle control system 100 is also
It may include for being carried out wireless communication with mobile or wireless network, other vehicles, infrastructure or any other communication system
Transceiver 118.
Vehicle control system 100 may include the vehicle control actuator 120 for controlling the various aspects of driving of vehicle, all
Such as control braking, acceleration, steering, seat-belt tension, the electric motor of car door lock, switch or other actuators.Vehicle
Control system 100 can also include one or more displays 122, loudspeaker 124 or other devices, so as to drive to the mankind
The person of sailing or passenger provide notice.Display 122 may include head-up display, instrument panel display or indicator, display screen or
Any other visual detector that can be seen by the driver or passenger of vehicle.Loudspeaker 124 may include the sound equipment of vehicle
The one or more speakers of system, or may include the loudspeaker for being exclusively used in driver or passenger's notice.
It should be understood that the embodiment of Fig. 1 is merely given as examples.Without departing from the scope of the invention,
Other embodiments may include less or additional component.In addition, shown component can be combined or be included in it is other
Without limiting in component.
In one embodiment, automatic Pilot/auxiliary system 102 is configured as controlling the driving or navigation of female vehicle.Example
Such as, automatic Pilot/auxiliary system 102 can control vehicle control actuator 120 in road, parking lot, lane or other positions
It is travelled on the path set.For example, automatic Pilot/auxiliary system 102 can be based on being mentioned by any part in component 106-118
The information of confession or perception data determine path.Path can also based on manipulation vehicle route come determine to avoid or mitigate with
The potential collision of another vehicle or object.Sensing system/device 106-110 and 114 can be used to obtain real time sensor
Data allow automatic Pilot/auxiliary system 102 to assist driver in real time or drive vehicle.
Fig. 2 is to show the block diagram of the embodiment of cleaning vehicle cleanliness detection system 104.As shown in Fig. 2, cleaning vehicle cleanliness is examined
Examining system 104 includes communication manager 202, processor 204 and memory 206.Communication manager 202 allows cleaning vehicle cleanliness
Detection system 104 and other systems (such as automatic Pilot/auxiliary system 102 and image capture station) as discussed herein are logical
Letter.As discussed herein, processor 204 executes various instructions to implement the function provided by cleaning vehicle cleanliness detection system 104
Energy.Memory 206 stores these instructions and by processor 204 and includes other in cleaning vehicle cleanliness detection system 104
Other data that module and component use.
In addition, cleaning vehicle cleanliness detection system 104 includes image processing module 208, which, which receives, comes
Image data from one or more camera chains 110 and one or more image captures station (discussed in this article).?
In some embodiments, image processing module 208 includes image management algorithm or process, the image management algorithm or process management table
Show the image outside vehicle when outside vehicle cleans (for example, outside vehicle does not have spot, dirt, rubbish or other articles)
One or more cleaning image.In addition, image processing module 208 can manage one captured after passenger leaves vehicle or
Multiple additional images.As discussed herein, these additional images are compared with cleaning image to determine that outside vehicle has
Spot, rubbish or other articles are since passenger travels in the car or due to vehicle driving to the purpose of previous passenger
Ground.
In some embodiments, image processing module 208 receives the multiple images from image capture station, the image capture
Stand including capture vehicle outer surface different piece image multiple video cameras.As discussed herein, image capture station
The come-at-able various positions of vehicle can be located at.
In a particular embodiment, image processing module 208 can execute various image transformation and picture adjustment process.Example
Such as, if vehicle rests in image capture station (for example, not in image capture station (or adjacent image nearby at a certain angle
Capture station) be properly oriented within), then the vehicle that the adjustable image of image processing module 208 makes it seem and be properly positioned is in
Identical orientation or angle.Adjusting image makes it allow to clean vehicle image and current vehicle figure similar to the vehicle being properly positioned
Picture more accurately compares and analyzes dirt, the spot etc. on the outside to identify vehicle.
Image quantization module 210 can quantify to clean image and additional image to reduce the noise in image (noise).When
When quantized image, the chromatography of image is reduced to three gray tones by image quantization module 210, this helps to reduce miscellaneous in image
News.In some embodiments, quantization is also known as " n color shade grade (gray scaling) ".For example, image quantization module
210 can be implemented entitled " detection (the Detection of lane- of drill carriage seam motorcycle submitted on November 23rd, 2016
Splitting motorcycles) " Application U.S. Serial No be 15/360,856 application disclosed in technology, whole
Content is incorporated herein herein.
Cleaning vehicle cleanliness detection system 104 further includes image subtraction module 212, which schemes from cleaning
Additional image is subtracted as in identify the difference between photo.These differences can indicate the spot of outside vehicle, dirt, rubbish
Or other articles.For example, entitled " the drill carriage seam motor submitted on November 23rd, 2016 can be implemented in image subtraction module 212
The Application U.S. Serial No of the detection (Detection of lane-splitting motorcycles) of vehicle " is 15/360,
Technology disclosed in 856 application, entire contents are incorporated herein herein.
Between cleaning image and the additional image that the identification of outline identification module 214 is such as identified by image subtraction module 212
One or more profiles of difference.Profile includes the profile of spot on the outside of such as vehicle, dirt or other articles.Profile
Identification module 214 also defines the frame around each profile.Frame allows user or computing system to readily recognize and identified
Profile.In addition, arrangement and angle based on the video camera for capturing each image, cleaning vehicle cleanliness detection system 104 can be incited somebody to action
Frame is mapped to the specific position on the outside of vehicle with such as secondary vehicle.
The position of spot, dirt and other articles on the outside of the detection vehicle of analysis module 216 and type.For example,
The analysis of analysis module 216 indicates new spot or the existing profile identified of other articles.By analyze profile shape and
The smoothness of contour edge is come the spot or article of classifying new.For example, if profile is substantially the circle with smooth edge,
It then may be spot.Alternatively, if profile has irregular shape and/or sharp/jagged edge, it is more likely that vehicle
Outside on a piece of fragment, rubbish or other articles.
In some embodiments, the access of analysis module 216 is (such as every comprising information associated with the profile of previous class
The shape and edge feature of a profile and the classification of the result of each profile) data source (for example, database or look-up table).With
The associated information of the profile of previous class can be analyzed module 216 for following profile of analyzing and classify, and such as identify
The profile of the previous class for the current outline tight fit being classified in data source and just.Tight fit allows analysis module 216
Make the hypothesis (that is, determining spot, the type of fragment or other articles) about profile classification.
In some embodiments, type of the analysis module 216 based on the stain/soil identified on the outer surface of vehicle,
The quantity of the size of the stain/soil identified, the position of the stain/soil identified and the stain/soil identified is come
Determine the whole cleannes of the outside of vehicle.The determination of the integral outer cleannes of vehicle is used for determining receiving next multiply
Whether the outside of the vehicle in front of visitor, which needs, is cleaned.In addition, depending on the severity of the stain/soil on vehicle, it may be necessary to
Different types of cleaning.For example, a small amount of mud can be removed easily in automatic car washing or move vehicle cleaning service center.However,
More serious spot (junk under such as birds droppings or certain form of trees) may need to carry out at the heart in service more thorough
Cleaning, or need more experienced move vehicle cleaning service.
Vehicle maintenance manager 218 manages cleaning and maintaining for vehicle.For example, if in vehicle after passenger leaves vehicle
Outside on detect spot, dirt, rubbish or other articles, then vehicle maintenance manager 218 next can multiply receiving
Determine whether vehicle needs to remove from service before visitor.If necessary to clean, then vehicle maintenance manager 218 can indicate certainly
Driving/auxiliary system 102 is moved by vehicle traction to suitable cleaning or service facility.
Fig. 3 A and 3B show multiple views of the embodiment at the image capture station with multiple video cameras.Such as Fig. 3 A institute
Show, image capture station 300 includes two vertical support structures 302 and 304 for being installed to pedestal 306, and pedestal 306 can be ground
Plate, pavement, ground or any other supporting zone for installing vertical support structure on it.Horizontal support structure 308
It is attached to the top of each of two vertical support structures 302,304.Vertical support structure 302,304 and horizontally-supported
The combination of structure 308 forms the opening 310 that vehicle can drive into.In some embodiments, vehicle can drive through opening 310
And by continuing to continue to sail out of and moving forward.In other embodiments, vehicle drives into opening 310 and is opened by reversed
Mouthful and leave.
Image capture station 300 include be installed to vertical support structure 302,304 multiple video cameras 312,314,316 and
318.Although showing four video camera 312-318 in figure 3 a, alternate embodiment, which can be used, is mounted on various positions
In and be positioned to various angle and directions capture image any amount of video camera.In some embodiments, one or
Multiple video cameras can be mounted to horizontal support structure 308.Video camera 312-318 is positioned and oriented into the outer of capture vehicle
The image on surface.In some embodiments, video camera 312-318 be positioned and oriented into capture in addition to vehicle downside (such as
Bottom) except essentially all vehicle external surface image.By capturing the image of substantially vehicle all outer surfaces, vehicle
Cleannes detection system 104 can analyze the cleannes on all exterior vehicle surfaces.For example, video camera 312-318 can be along vehicle
Side and vehicle up direction positioning.In addition, multiple video camera 312-318 can be positioned in the front of vehicle, vehicle
Near middle part and the rear portion of vehicle.
Although being not shown in figure 3 a, image capture station 300 may include being able to use video camera 312-318 to catch
It obtains the image of vehicle and the one or more of cleaning vehicle cleanliness detection system being transmitted to these images in vehicle calculates system
System and/or communication system.In addition, one or more computing systems and/or communication system can be before the images of capture vehicle
Determine whether vehicle is properly positioned in image capture station 300.In some embodiments, one or more computing systems and/
Or communication system may include one or more processors, one or more storage devices, one or more communication modules, one
Or multiple vehicle sensors etc..
Image capture station 300 can be implemented with various configurations.In some embodiments, vertical support member 302 is only provided
And/or 304 without horizontal support member 308.In other embodiments, vertical support member can be existing column or bar, example
Such as street lamp bar, telephone pole, traffic sign column, advertising sign column.In some embodiments, video camera 312-318 can be by
It is installed to building or the side of the other structures of video camera can be supported.Therefore, image capture station 300 can take many shapes
Formula, the form allow vehicle to travel near image capture station, video camera associated with image capture station are obtained
The image of outside vehicle and these images are transmitted to the cleaning vehicle cleanliness detection system in vehicle.In some embodiments,
At least part at image capture station 300 can be moveable, and support construction on such as wheel or be mounted on moveable arm
Or the video camera on other removable assemblies.
Image capture station 300, which can be positioned in, provides any geographical position of the vehicle convenience access to such as autonomous vehicle
Set place.In some embodiments, image capture station 300 be located at gas station, electric vehicle charging station, parking lot, in vehicle service
The heart, automotive vehicle fragmented transport (staging)/holding areas etc..For example, after passenger leaves autonomous vehicle, vehicle can be with
Nearest image capture station 300 is driven to determine whether vehicle cleans and be enough to receive another passenger.
As shown in Figure 3B, the video camera 312-318 at image capture station 300 obtains the different piece of the outer surface of vehicle 320
Image.Dotted line in Fig. 3 B shows the approximate visual field of each video camera 312-318.As shown, video camera 312-318 can
The essentially all outer of image capture vehicle 320 is combined with some overlapping regions, but from all video camera 312-318
Surface.In alternative embodiments, any amount of video camera in any amount of different location can be used to capture specific
The image of the outer surface of vehicle.
Fig. 4 A and 4B show the embodiment of the method 400 of the cleannes for detecting outside vehicle.Initially, in vehicle
Cleaning vehicle cleanliness detection system receives one or more cleaning images of 402 outside vehicles.These cleaning images may be considered that
It is " reference picture " and indicates clean outside vehicle.In some embodiments, before carrying passenger traffic, outside vehicle
Cleaning image should be substantially similar to.In response to transport request (or other instructions), vehicle carries 404 passengers and by passenger
It is transported to destination.Passenger is located in purpose leaves 406 vehicles.
After passenger leaves 406 vehicles, vehicle drives towards 408 image capture stations and voluntarily adjusts in image capture station
Section.In some embodiments, in image capture station there are the desired locations of vehicle with ensure all captured images and previously
The cleaning image captured for the outer surface of vehicle is relatively uniform.Cleaning vehicle cleanliness detection system receives 410 and comes from image capture station
Current vehicle outside one or more images (that is, " present image ").As discussed herein, image capture station includes catching
Obtain any amount of video camera of the image of the outside of vehicle.These captured images are transmitted (for example, wirelessly) to vehicle
In cleaning vehicle cleanliness detection system.In some embodiments, the place and position for shooting present image are substantially similar to shoot
Clean the place and position of image.
As 412 cleaning images of cleaning vehicle cleanliness detection system quantization and present image are to reduce noise, method 400 after
It is continuous.Then cleaning vehicle cleanliness detection system subtracts 414 present images from cleaning image and (or subtracts cleaning figure from present image
Picture).In some embodiments, cleaning vehicle cleanliness detection system is from corresponding cleaning image (for example, the same section of outside vehicle
Cleaning image) in subtract 414 each present images.
Then cleaning vehicle cleanliness detection system identifies 416 present images and cleans the difference between image.As begged for herein
Opinion, these differences can indicate spot, dirt, fragment or other articles on vehicle external surface.Cleaning vehicle cleanliness detection system
The profile for the difference that system identification 418 is identified.Profile can indicate the profile of such as spot, dirt, fragment or other articles.
With the continuation of method 400, cleaning vehicle cleanliness detection system is associated with each identified profile by frame
420.As described above, frame allows user or computing system to readily recognize identified profile.Also, based on each figure of capture
Frame can be mapped to the certain bits on outside vehicle by the position of the video camera of picture and angle, cleaning vehicle cleanliness detection system
It sets.Therefore, frame can position specific spot, dirt, fragment or other articles with secondary personnel or self-cleaning system.
Cleaning vehicle cleanliness detection system will be spot, dirt, fragment or other objects by the territorial classification 422 of contour limit
Product.It as discussed herein, can be by analyzing the shape of profile and the smoothness of contour edge by the region of contour limit
To classify.For example, may be spot if profile is substantially the circle with smooth edge.However, if profile has
Irregular shape and/or there is sharp/jagged edge, then it is more likely that fragment or other articles on vehicle external surface.Such as
It is upper described, in some embodiments, the accessible number comprising information associated with the profile of previous class of analysis module 216
According to source.The additional information is useful to analysis and classification profile, close with the current profile being just classified in such as identification data source
The profile of matched previous class.
Cleaning vehicle cleanliness detection system determines whether 424 outside vehicles need to clean before receiving next passenger.Example
Such as, it if cleaning vehicle cleanliness detection system identifies significant spot or dirt on vehicle external surface, may need receiving
Another passenger cleans vehicle before.In addition, if vehicle needs to clean, it is determined that 424 may include required clean type.Example
Such as, small dirt or a small amount of can be readily removable by robot, auto cleaning system or the individual consumer near vehicle
Mud.However, vehicle may need to carry out at vehicle service center if identifying the significant spot for being difficult to remove or dirt
It more thoroughly cleans or cleaning is executed by more complicated mobile cleaning service.If not needing to clean at 426, vehicle is waited
New transport request is responded to carry the instruction 434 of new passenger.
If necessary to clean 426, then vehicle can be stopped servicing when arranging cleaning service and cleaning outside vehicle
428.When vehicle cleaning completes 430, vehicle is discharged back into service 432 and can be used for receiving new transport request.Vehicle is right
The instruction 434 for carrying new passenger is waited in response to new transport request afterwards.
This document describes various embodiments of the present invention, it should be appreciated that they are only indicated by example, are not intended to limit
In this.It should be apparent to those skilled in the art that without departing from the spirit and scope of the present invention, can produce shape
Various change in terms of formula and details.Therefore, width of the invention and range can not appointing by the exemplary embodiment of description
One limitation, and limited according only to following claim and their equivalent.The description herein be rendered as explanation and
The purpose of description.Purpose is not to describe or limit the invention to the disclosure of precise forms.According to published introduction, very much
Modifications and variations are possible.Moreover it shall be noted that: the alternative embodiment being discussed herein any one or all can be with
The combination arbitrarily needed is used to form additional mixing embodiment of the invention.
Claims (15)
1. a kind of method, comprising:
By vehicle location near image capture station；
Receive from described image capture station multiple images, wherein described multiple images include the outer surface of the vehicle not
Same view；
Described multiple images are analyzed by cleaning vehicle cleanliness detection system with the cleannes of the outer surface of the determination vehicle；And
Determine whether the outside vehicle needs to clean based on the cleannes for the outer surface for analyzing the vehicle.
2. according to the method described in claim 1, further including by the outside of the multiple images received and the vehicle
Corresponding multiple cleaning images are compared with Recognition Different.
3. according to the method described in claim 2, further including the multiple images that receive described in identification and described corresponding multiple
Clean the difference between image.
4. according to the method described in claim 2, further including identification at least one wheel associated with the identified difference
It is wide.
5. according to the method described in claim 4, further including classifying to the region by the contour limit, wherein described point
Class includes the shape of the determining profile.
6. according to the method described in claim 4, further including classifying to the region by the contour limit, wherein described point
Class includes the smoothness at the edge of the determining profile.
7. according to the method described in claim 1, further including needing to clean in response to the determination outside vehicle and making the vehicle
Stop service.
8. according to the method described in claim 1, wherein receiving institute from multiple video cameras associated with described image capture station
State multiple images.
9. according to the method described in claim 1, wherein the vehicle cleaning degree detection system is located in the vehicle.
10. a kind of method, comprising:
By vehicle location near image capture station, wherein described image capture station includes the outer surface that can capture the vehicle
Multiple images multiple video cameras, and wherein described multiple images include the different views of the outer surface of the vehicle；
Receive the described multiple images of the outer surface of the vehicle from described image capture station；
Described multiple images are analyzed by the cleaning vehicle cleanliness detection system in the vehicle with the appearance of the determination vehicle
The cleannes in face；And
Determine whether the outside vehicle needs to clean based on the cleannes for the outer surface for analyzing the vehicle.
11. according to the method described in claim 10, analyzing described multiple images wherein with the outer surface of the determination vehicle
Cleannes include:
The multiple image received multiple cleaning images corresponding with the outer surface of the vehicle are compared；And
Identify the difference between the multiple image received and corresponding multiple cleaning images.
12. according to the method for claim 11, further includes:
Identify the identified difference between the multiple image received and corresponding multiple cleaning images
At least one associated profile；And
Classify to the region by the contour limit, wherein the classification includes the shape for determining the profile and determining institute
State at least one of the smoothness at edge of profile.
13. a kind of equipment, comprising:
Communication manager in vehicle, the communication manager are configured to receive the multiple images from image capture station, wherein
Described multiple images are captured by multiple video cameras associated with described image capture station, and wherein described multiple images include
The different views of the outer surface of the vehicle；
Image processing module, described image processing module are configured to analyze the multiple image received with the determination vehicle
Outer surface cleannes；And
Vehicle maintenance manager, the cleannes that the vehicle maintenance manager is configured to the outer surface of the vehicle are come
Determine whether the outside vehicle needs to clean.
14. equipment according to claim 13, further includes image subtraction module, described image subduction module is configured that
The multiple image received multiple cleaning images corresponding with the outer surface of the vehicle are compared；And
Identify the difference between the multiple image received and corresponding multiple cleaning images.
15. equipment according to claim 14 further includes outline identification module, the outline identification module is configured to identify
Identified difference between the multiple image received and corresponding multiple cleaning images is associated at least
One profile.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/628,300 US10112585B1 (en) | 2017-06-20 | 2017-06-20 | Vehicle cleanliness detection systems and methods |
| US15/628,300 | 2017-06-20 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109099855A true CN109099855A (en) | 2018-12-28 |
Family
ID=63042340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810615660.9A Pending CN109099855A (en) | 2017-06-20 | 2018-06-14 | Cleaning vehicle cleanliness detection system and method |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10112585B1 (en) |
| CN (1) | CN109099855A (en) |
| DE (1) | DE102018114609A1 (en) |
| GB (1) | GB2565220B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110929670A (en) * | 2019-12-02 | 2020-03-27 | 合肥城市云数据中心股份有限公司 | Muck truck cleanliness video identification and analysis method based on yolo3 technology |
| CN111241953A (en) * | 2020-01-03 | 2020-06-05 | 秒针信息技术有限公司 | Decontamination verification method and device, storage medium and electronic device |
| CN111626382A (en) * | 2020-07-28 | 2020-09-04 | 杭州品茗安控信息技术股份有限公司 | Rapid intelligent identification method and system for cleanliness of vehicle on construction site |
| CN111684487A (en) * | 2019-04-29 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Cleaning method, cleaning control system, computer-readable storage medium, cleaning system, optical sensor, and movable platform |
| CN111724013A (en) * | 2019-03-20 | 2020-09-29 | 北京嘀嘀无限科技发展有限公司 | Method and system for determining cleanliness of vehicle |
| CN112297760A (en) * | 2019-07-31 | 2021-02-02 | 丰田自动车株式会社 | Control device, vehicle, and control method |
| CN112349035A (en) * | 2020-06-02 | 2021-02-09 | 广州租上云科技有限责任公司 | Automobile leasing management system and operation method |
| CN112381477A (en) * | 2021-01-18 | 2021-02-19 | 南京领行科技股份有限公司 | Vehicle appearance cleanliness monitoring method and device, server and storage medium |
| CN112387636A (en) * | 2020-10-28 | 2021-02-23 | 湖北航天技术研究院总体设计所 | Automatic cleaning equipment and system for optical element |
| CN112529093A (en) * | 2020-12-21 | 2021-03-19 | 上海英十信息科技有限公司 | Method for testing mold cleaning effect based on sample dimension weighting of pre-detection weight |
| CN112580754A (en) * | 2021-02-25 | 2021-03-30 | 湖南华辰悦科技有限公司 | Vehicle cleanliness judgment method and device suitable for construction site and storage medium |
| CN113561917A (en) * | 2021-09-22 | 2021-10-29 | 深圳市信润富联数字科技有限公司 | Vehicle cleaning judgment method and device, electronic equipment and storage medium |
| WO2022007126A1 (en) * | 2020-07-07 | 2022-01-13 | 蒋梦兰 | Refit state recognition platform and method for vehicle body to be detected |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018220306B4 (en) * | 2018-11-27 | 2021-03-18 | Audi Ag | Method and device for notifying a user of soiling on the vehicle and vehicle with such a device |
| DE102018222649A1 (en) * | 2018-12-20 | 2020-06-25 | Volkswagen Aktiengesellschaft | Service station for autonomous vehicle cleaning |
| DE102018222645A1 (en) * | 2018-12-20 | 2020-06-25 | Volkswagen Aktiengesellschaft | Autonomous vehicle cleaning process |
| CN109448669A (en) * | 2018-12-26 | 2019-03-08 | 宁波迪比亿贸易有限公司 | Automate butterfly shape dulcimer |
| DE102019208055A1 (en) | 2019-06-03 | 2020-07-16 | Audi Ag | Shut-off arrangement |
| US11209282B2 (en) | 2019-07-02 | 2021-12-28 | Ford Global Technologies, Llc | Vehicle cleanliness detection and carwash recommendation |
| DE102019216774A1 (en) * | 2019-10-30 | 2021-05-06 | Continental Teves Ag & Co. Ohg | System for managing a vehicle fleet |
| CN113221724B (en) * | 2021-05-08 | 2022-11-04 | 杭州鸿泉物联网技术股份有限公司 | Vehicle spray detection method and system |
| CN113221727B (en) * | 2021-05-08 | 2023-05-12 | 杭州鸿泉物联网技术股份有限公司 | Engineering vehicle cleaning state judging method and system |
| CN116580000B (en) * | 2023-05-08 | 2023-11-03 | 江阴市良友化工设备制造有限公司 | Chemical heat exchanger cleaning effect identification system |
| CN116973378B (en) * | 2023-09-22 | 2024-01-09 | 山东梁山华宇集团汽车制造有限公司 | Vehicle production quality detecting system |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19728725B4 (en) | 1997-07-04 | 2006-06-08 | Bayerische Motoren Werke Ag | Method and device for measuring the degree of soiling of vehicles |
| US20080183535A1 (en) * | 2001-06-20 | 2008-07-31 | Mordechai Kahana | Method and system for inspecting rental vehicles |
| DE102013001332B4 (en) | 2013-01-26 | 2017-08-10 | Audi Ag | Method for detecting the degree of pollution of a vehicle |
| US9952600B2 (en) * | 2013-02-03 | 2018-04-24 | Michael H Gurin | Systems for a shared vehicle |
| US9126534B2 (en) | 2013-03-14 | 2015-09-08 | Ford Global Technologies, Llc | Automated camera wash for vehicles |
| CN103909909B (en) | 2013-11-29 | 2016-01-06 | 余姚市宏骏铜业有限公司 | A kind of vehicle washing system and car-washing method |
| CN103738308B (en) | 2013-11-29 | 2016-01-20 | 余姚市宏骏铜业有限公司 | The intelligent vehicle washing system of automatic identification vehicle and intelligent car-washing method |
| DE102014226358B4 (en) | 2014-12-18 | 2019-04-11 | Bayerische Motoren Werke Aktiengesellschaft | Apparatus and method for detecting surface pollution of a vehicle |
| US20170148102A1 (en) * | 2015-11-23 | 2017-05-25 | CSI Holdings I LLC | Damage assessment and repair based on objective surface data |
| US10692050B2 (en) * | 2016-04-06 | 2020-06-23 | American International Group, Inc. | Automatic assessment of damage and repair costs in vehicles |
-
2017
- 2017-06-20 US US15/628,300 patent/US10112585B1/en active Active
-
2018
- 2018-06-14 CN CN201810615660.9A patent/CN109099855A/en active Pending
- 2018-06-18 DE DE102018114609.4A patent/DE102018114609A1/en active Pending
- 2018-06-19 GB GB1810042.0A patent/GB2565220B/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111724013A (en) * | 2019-03-20 | 2020-09-29 | 北京嘀嘀无限科技发展有限公司 | Method and system for determining cleanliness of vehicle |
| CN111684487A (en) * | 2019-04-29 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Cleaning method, cleaning control system, computer-readable storage medium, cleaning system, optical sensor, and movable platform |
| CN111684487B (en) * | 2019-04-29 | 2024-03-19 | 深圳市大疆创新科技有限公司 | Cleaning method, cleaning control system, computer readable storage medium, cleaning system, optical sensor, and movable platform |
| CN112297760A (en) * | 2019-07-31 | 2021-02-02 | 丰田自动车株式会社 | Control device, vehicle, and control method |
| CN112297760B (en) * | 2019-07-31 | 2023-08-04 | 丰田自动车株式会社 | Control device, vehicle, and control method |
| CN110929670A (en) * | 2019-12-02 | 2020-03-27 | 合肥城市云数据中心股份有限公司 | Muck truck cleanliness video identification and analysis method based on yolo3 technology |
| CN111241953A (en) * | 2020-01-03 | 2020-06-05 | 秒针信息技术有限公司 | Decontamination verification method and device, storage medium and electronic device |
| CN111241953B (en) * | 2020-01-03 | 2023-11-10 | 河北太行农牧供应链有限公司 | Decontamination verification method and device, storage medium and electronic device |
| CN112349035B (en) * | 2020-06-02 | 2021-08-10 | 广州租上云科技有限责任公司 | Automobile leasing management system and operation method |
| CN112349035A (en) * | 2020-06-02 | 2021-02-09 | 广州租上云科技有限责任公司 | Automobile leasing management system and operation method |
| WO2022007126A1 (en) * | 2020-07-07 | 2022-01-13 | 蒋梦兰 | Refit state recognition platform and method for vehicle body to be detected |
| CN111626382A (en) * | 2020-07-28 | 2020-09-04 | 杭州品茗安控信息技术股份有限公司 | Rapid intelligent identification method and system for cleanliness of vehicle on construction site |
| CN112387636A (en) * | 2020-10-28 | 2021-02-23 | 湖北航天技术研究院总体设计所 | Automatic cleaning equipment and system for optical element |
| CN112387636B (en) * | 2020-10-28 | 2021-08-24 | 湖北航天技术研究院总体设计所 | Automatic cleaning equipment and system for optical element |
| CN112529093A (en) * | 2020-12-21 | 2021-03-19 | 上海英十信息科技有限公司 | Method for testing mold cleaning effect based on sample dimension weighting of pre-detection weight |
| CN112381477B (en) * | 2021-01-18 | 2021-04-20 | 南京领行科技股份有限公司 | Vehicle appearance cleanliness monitoring method and device, server and storage medium |
| CN112381477A (en) * | 2021-01-18 | 2021-02-19 | 南京领行科技股份有限公司 | Vehicle appearance cleanliness monitoring method and device, server and storage medium |
| CN112580754A (en) * | 2021-02-25 | 2021-03-30 | 湖南华辰悦科技有限公司 | Vehicle cleanliness judgment method and device suitable for construction site and storage medium |
| CN113561917B (en) * | 2021-09-22 | 2021-12-21 | 深圳市信润富联数字科技有限公司 | Vehicle cleaning judgment method and device, electronic equipment and storage medium |
| CN113561917A (en) * | 2021-09-22 | 2021-10-29 | 深圳市信润富联数字科技有限公司 | Vehicle cleaning judgment method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| US10112585B1 (en) | 2018-10-30 |
| DE102018114609A1 (en) | 2018-12-20 |
| GB2565220A (en) | 2019-02-06 |
| GB201810042D0 (en) | 2018-08-01 |
| GB2565220B (en) | 2021-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109099855A (en) | Cleaning vehicle cleanliness detection system and method | |
| US10304165B2 (en) | Vehicle stain and trash detection systems and methods | |
| US10509974B2 (en) | Stain and trash detection systems and methods | |
| CN105459907B (en) | Vehicle security system, blind area monitoring method and device | |
| CN110036425A (en) | Dynamic routing for automatic driving vehicle | |
| US11543823B2 (en) | Reducing inconvenience to surrounding road users caused by stopped autonomous vehicles | |
| US8310355B2 (en) | Vehicular collision warning system | |
| RU2017109073A (en) | DETECTION AND PREDICTION OF PEDESTRIAN TRAFFIC USING A RETURNED BACK CAMERA | |
| EP3426521A1 (en) | Running vehicle alerting system and method | |
| CN115699027A (en) | Road condition deep learning model | |
| CN102592475A (en) | Crossing traffic early warning system | |
| CN107399290A (en) | Safe driving assistant system and its control method | |
| CN110562259A (en) | risk mitigation for entering a passenger vehicle | |
| KR20200035536A (en) | Enforcement system of vehicle violating exclusive bus lain using infrared camera and infrared lighting, and method for the same | |
| CN114801993B (en) | Automobile blind area monitoring system | |
| CA3056611A1 (en) | Automatic warning generation system intended for the users of a road | |
| CN114365208B (en) | Driving support device, driving support method, and storage medium | |
| JP6355161B2 (en) | Vehicle imaging device | |
| JP7214640B2 (en) | Management device, vehicle, inspection device, vehicle inspection system, and information processing method thereof | |
| JP2008135070A (en) | Road traffic control system | |
| US20220388546A1 (en) | Predicting a Parking or Pullover Spot Vacancy for an Autonomous Vehicle Pickup | |
| TR201812156A2 (en) | PRE-SEAT PASSENGER CAPACITY VIOLATION DETECTION METHOD USING CAMERA IMAGES | |
| CN109285388A (en) | Highway detection system and method | |
| CN205581295U (en) | Vehicle obstacle detection system | |
| KR20230113427A (en) | Method and Apparatus for controlling Autonomous Vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181228 |
|
| WD01 | Invention patent application deemed withdrawn after publication |